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    TIME-OPTIMAL TRAJECTORIES FOR ROBOTIC TRANSFER DEVICES
    1.
    发明申请
    TIME-OPTIMAL TRAJECTORIES FOR ROBOTIC TRANSFER DEVICES 审中-公开

    公开(公告)号：US20180361582A1

    公开(公告)日：2018-12-20

    申请号：US16115505

    申请日：2018-08-28

    Applicant: BROOKS AUTOMATION, INC.

    Inventor： Jayaraman KRISHNASAMY ,  Martin HOSEK

    IPC: B25J9/16 ,  G05B19/416 ,  H01L21/67 ,  H01L21/677

    Abstract: A time-optimal trajectory generation method, for a robotic manipulator having a transport path with at least one path segment, comprising generating a forward time-optimal trajectory of the manipulator along the at least one path segment from a start point of the at least one path segment towards an end point of the at least one path segment, generating a reverse time-optimal trajectory of the manipulator along the at least one path segment from the end point towards the start point of the at least one path segment, and combining the time-optimal forward and reverse trajectories to obtain a complete time-optimal trajectory, where the forward and reverse trajectories of the at least one path segment are blended together with a smoothing bridge joining the time-optimal forward and reverse trajectories in a position-velocity reference frame with substantially no discontinuity between the time-optimal forward and reverse trajectories.

    SUBSTRATE PROCESSING APPARATUS
    3.
    发明申请
    SUBSTRATE PROCESSING APPARATUS 审中-公开

    公开(公告)号：US20190304823A1

    公开(公告)日：2019-10-03

    申请号：US16444225

    申请日：2019-06-18

    Applicant: BROOKS AUTOMATION, INC.

    Inventor： Robert T. CAVENEY ,  Jayaraman KRISHNASAMY ,  Ulysses GILCHRIST ,  Mitchell DREW ,  Jairo T. MOURA

    IPC: H01L21/677 ,  B25J9/04 ,  B25J11/00 ,  B25J18/04

    Abstract: A substrate processing apparatus including a frame, a first SCARA arm connected to the frame, including an end effector, configured to extend and retract along a first radial axis; a second SCARA arm connected to the frame, including an end effector, configured to extend and retract along a second radial axis, the SCARA arms having a common shoulder axis of rotation; and a drive section coupled to the SCARA arms is configured to independently extend each SCARA arm along a respective radial axis and rotate each SCARA arm about the common shoulder axis of rotation where the first radial axis is angled relative to the second radial axis and the end effector of a respective arm is aligned with a respective radial axis, wherein each end effector is configured to hold at least one substrate and the end effectors are located on a common transfer plane.

    TIME-OPTIMAL TRAJECTORIES FOR ROBOTIC TRANSFER DEVICES
    6.
    发明申请
    TIME-OPTIMAL TRAJECTORIES FOR ROBOTIC TRANSFER DEVICES 审中-公开

    公开(公告)号：US20170087720A1

    公开(公告)日：2017-03-30

    申请号：US15376119

    申请日：2016-12-12

    Applicant: BROOKS AUTOMATION, INC.

    Inventor： Jayaraman KRISHNASAMY ,  Martin HOSEK

    IPC: B25J9/16 ,  H01L21/677 ,  H01L21/67

    CPC classification number: B25J9/1664 ,  G05B19/416 ,  G05B2219/40449 ,  G05B2219/40466 ,  H01L21/67259 ,  H01L21/67742 ,  H01L21/67766

    Abstract: A time-optimal trajectory generation method, for a robotic manipulator haying a transport path with at least one path segment, comprising generating a forward time-optimal trajectory of the manipulator along the at least one path segment from a start point of the at least one path segment towards an end point of the at least one path segment, generating a reverse time-optimal trajectory of the manipulator along the at least one path segment from the end point towards the start point of the at least one path segment, and combining the time-optimal forward and reverse trajectories to obtain a complete time optimal trajectory, where the forward and reverse trajectories of the at least one path segment are blended together with a smoothing bridge joining the time-optimal forward and reverse trajectories in a position-velocity reference frame with substantially no discontinuity between the time-optimal forward and reverse trajectories.

    SUBSTRATE PROCESSING APPARATUS
    7.
    发明申请
    SUBSTRATE PROCESSING APPARATUS 审中-公开

    公开(公告)号：US20200321232A1

    公开(公告)日：2020-10-08

    申请号：US16825663

    申请日：2020-03-20

    Applicant: Brooks Automation, Inc.

    Inventor： Robert T. CAVENEY ,  Jayaraman KRISHNASAMY ,  Ulysses GILCHRIST ,  Mitchell DREW ,  Jairo MOURA

    IPC: H01L21/677 ,  B25J9/04 ,  B25J11/00 ,  B25J18/04

    Abstract: A substrate processing apparatus including a frame, a first SCARA arm connected to the frame, including an end effector, configured to extend and retract along a first radial axis; a second SCARA arm connected to the frame, including an end effector, configured to extend and retract along a second radial axis, the SCARA arms having a common shoulder axis of rotation; and a drive section coupled to the SCARA arms is configured to independently extend each SCARA arm along a respective radial axis and rotate each SCARA arm about the common shoulder axis of rotation where the first radial axis is angled relative to the second radial axis and the end effector of a respective arm is aligned with a respective radial axis, wherein each end effector is configured to hold at least one substrate and the end effectors are located on a common transfer plane.

    METHOD AND APPARATUS FOR BRUSHLESS ELECTRICAL MACHINE CONTROL
    9.
    发明申请
    METHOD AND APPARATUS FOR BRUSHLESS ELECTRICAL MACHINE CONTROL 审中-公开
    无刷电机控制方法与装置

    公开(公告)号：US20150168496A1

    公开(公告)日：2015-06-18

    申请号：US14540077

    申请日：2014-11-13

    Applicant: Brooks Automation, Inc.

    Inventor： Jairo T. MOURA ,  Nathan SPIKER ,  Aaron GAWLIK ,  Jayaraman KRISHNASAMY

    IPC: G01R31/34 ,  H02P6/00 ,  H02P25/08 ,  G01L3/22

    CPC classification number: G01R31/34 ,  G01L3/22 ,  H02P6/10 ,  H02P23/0031 ,  H02P23/12 ,  H02P25/098

    Abstract: A variable reluctance motor load mapping apparatus includes a frame, an interface disposed on the frame configured for mounting a variable reluctance motor, a static load cell mounted to the frame and coupled to the variable reluctance motor, and a controller communicably coupled to the static load cell and the variable reluctance motor, the controller being configured to select at least one motor phase of the variable reluctance motor, energize the at least one motor phase, and receive motor operational data from at least the static load cell for mapping and generating an array of motor operational data look up tables.

    Abstract translation: 可变磁阻电动机负载映射装置包括框架，布置在框架上的接口，其被配置为安装可变磁阻电动机，安装到框架并耦合到可变磁阻电动机的静态负载单元，以及可控制地耦合到静态负载的控制器 所述控制器被配置为选择所述可变磁阻电动机的至少一个电动机相位，激励所述至少一个电动机相位，以及从至少所述静态负载传感器接收电动机操作数据，用于映射和产生阵列 的电机运行数据查找表。

    SEALED SWITCHED RELUCTANCE MOTOR
    10.
    发明申请
    SEALED SWITCHED RELUCTANCE MOTOR 审中-公开
    密封式开关式电动机

    公开(公告)号：US20150137651A1

    公开(公告)日：2015-05-21

    申请号：US14540055

    申请日：2014-11-13

    Applicant: Brooks Automation, Inc.

    Inventor： Jairo T. MOURA ,  Jayaraman KRISHNASAMY

    IPC: H02K19/02 ,  H02K3/20

    CPC classification number: H02K19/02 ,  H02K1/246 ,  H02K3/20 ,  H02K19/103

    Abstract: A motor including a sealed rotor with at least one salient rotor pole and a stator comprising at least one salient stator pole having an excitation winding associated therewith and interfacing with the at least one salient rotor pole to effect an axial flux circuit between the at least one salient stator pole and the at least one salient rotor pole.

    Abstract translation: 一种电动机，其包括具有至少一个凸极转子极的密封转子和定子，该定子包括至少一个凸起的定子极，其具有与之相关联的激励绕组，并与所述至少一个凸极转子极接合，以实现所述至少一个 凸极定子极和至少一个凸极转子极。

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